arXiv subjects

Andrea Maria Zanchettin

Publications and source records attributed to Andrea Maria Zanchettin.

4 recordsLinked to original sources

arXiv2026

Low-Resolution Perception for Robotic Packing

This work tackles the problem of scalable perception for robotic packing with low-cost, low-resolution depth sensing. We propose a framework where reconstruction cues drive next-view selection and grasp evidence updates a per-object stability estimate, jointly deciding what to acquire next and when to grasp. During the reconstruction, a low-resolution Next Best View (NBV) strategy explicitly avoids redundant views while preserving task-relevant geometry. We validate the approach in two steps: (i) an ablation study of the utility function under very low resolution, and (ii) a full end-to-end evaluation across policies, showing how low-resolution perception is a practical, scalable option for robotic packing.

cs.RO↗

arXiv2026

Automating Box Folding: Sequence Extraction and Ranking Methodologies

Box folding represents a crucial challenge for automated packaging systems. This work bridges the gap between existing methods for folding sequence extraction and approaches focused on the adaptability of automated systems to specific box types. An innovative method is proposed to identify and rank folding sequences, enabling the transformation of a box from an initial state to a desired final configuration. The system evaluates and ranks these sequences based on their feasibility and compatibility with available hardware, providing recommendations for real-world implementations. Finally, an illustrative use case is presented, where a robot performs the folding of a box.

cs.RO↗

arXiv2025

Low Resolution Next Best View for Robot Packing

Automating the packing of objects with robots is a key challenge in industrial automation, where efficient object perception plays a fundamental role. This paper focuses on scenarios where precise 3D reconstruction is not required, prioritizing cost-effective and scalable solutions. The proposed Low-Resolution Next Best View (LR-NBV) algorithm leverages a utility function that balances pose redundancy and acquisition density, ensuring efficient object reconstruction. Experimental validation demonstrates that LR-NBV consistently outperforms standard NBV approaches, achieving comparable accuracy with significantly fewer poses. This method proves highly suitable for applications requiring efficiency, scalability, and adaptability without relying on high-precision sensing.

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arXiv2025

Digital Model-Driven Genetic Algorithm for Optimizing Layout and Task Allocation in Human-Robot Collaborative Assemblies

This paper addresses the optimization of human-robot collaborative work-cells before their physical deployment. Most of the times, such environments are designed based on the experience of the system integrators, often leading to sub-optimal solutions. Accurate simulators of the robotic cell, accounting for the presence of the human as well, are available today and can be used in the pre-deployment. We propose an iterative optimization scheme where a digital model of the work-cell is updated based on a genetic algorithm. The methodology focuses on the layout optimization and task allocation, encoding both the problems simultaneously in the design variables handled by the genetic algorithm, while the task scheduling problem depends on the result of the upper-level one. The final solution balances conflicting objectives in the fitness function and is validated to show the impact of the objectives with respect to a baseline, which represents possible initial choices selected based on the human judgment.

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